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Online Iterative Learning Control of Zero-Moment Point for Biped Walking Stabilization

Hu, Kai and Ott, Christian and Lee, Dongheui (2015) Online Iterative Learning Control of Zero-Moment Point for Biped Walking Stabilization. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 5127-5133. 2015 IEEE International Conference on Robotics and Automation (ICRA), 26.-30. Mai 2015, Seattle.

Full text not available from this repository.

Abstract

Biped walking control based on simplified models relies much on online feedback stabilizers to compensate the zero-moment point (ZMP) error which partially comes from the model inconsistency of pattern generation. Inspired by the fact that human improves the performance by practicing a task for multiple times, this paper presents an online learning control framework for improving the robustness during the dominant repetitive phases of walking. The key idea is to learn a compensative feedforward ZMP term from previous ZMP error trajectories in order to achieve better ZMP tracking. Based on the iterative learning control theory, the learning process is conducted online continuously with minimal iteration of two footsteps, which can practically run in parallel with state-of-the-art walking controllers. A varying forgetting factor is designed to reduce the influence of the landing impact. Convergence of the learning control algorithm and improved ZMP tracking performance is verified both in dynamics simulation and experiment on the DLR humanoid robot TORO.

Item URL in elib:https://elib.dlr.de/96706/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Online Iterative Learning Control of Zero-Moment Point for Biped Walking Stabilization
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hu, KaiTechnische Universität MünchenUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Lee, Dongheuidhlee (at) tum.deUNSPECIFIED
Date:2015
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 5127-5133
Status:Published
Keywords:bipedal walking, humanoid robot, online learning, iterative learning control
Event Title:2015 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Seattle
Event Type:international Conference
Event Dates:26.-30. Mai 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Ott, Dr. Christian
Deposited On:19 Jun 2015 14:50
Last Modified:09 Feb 2017 19:21

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